#include "behaviortree_cpp_v3/behavior_tree.h"
#include "nav2_msgs/action/navigate_to_pose.hpp"
#include "rclcpp/rclcpp.hpp"

class Navigate : public BT::ActionNode<nav2_msgs::action::NavigateToPose> 
{
public:
  Navigate(const std::string &name, const BT::NodeConfiguration &config);
  static BT::PortsList providedPorts();
  BT::NodeStatus tick() override;
}